Configuration Controllability of Simple Mechanical Control Systems

DOI10.1137/S0036144599351065zbMath0976.53017OpenAlexW2068830756MaRDI QIDQ4699114

Andrew D. Lewis, Richard M. Murray

Publication date: 23 November 1999

Published in: SIAM Review (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1137/s0036144599351065

zbMATH Keywords

controllabilityRiemannian geometrykinetic energyLagrangiancontrol systemmechanicssymmetric productrobotic leg

Mathematics Subject Classification ID

Controllability (93B05) Control of mechanical systems (70Q05) Attainable sets, reachability (93B03) Local Riemannian geometry (53B20)

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About simple variational splines from the Hamiltonian viewpoint ⋮ Geometric modeling and local controllability of a spherical mobile robot actuated by an internal pendulum

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